CN110215153B - Cleaning robot and operation control method thereof - Google Patents

Cleaning robot and operation control method thereof Download PDF

Info

Publication number
CN110215153B
CN110215153B CN201810173986.0A CN201810173986A CN110215153B CN 110215153 B CN110215153 B CN 110215153B CN 201810173986 A CN201810173986 A CN 201810173986A CN 110215153 B CN110215153 B CN 110215153B
Authority
CN
China
Prior art keywords
detection assembly
detectors
detector
cleaning robot
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810173986.0A
Other languages
Chinese (zh)
Other versions
CN110215153A (en
Inventor
韩云学
吴玉胜
齐焱
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to CN201810173986.0A priority Critical patent/CN110215153B/en
Priority to PCT/CN2019/072008 priority patent/WO2019165860A1/en
Publication of CN110215153A publication Critical patent/CN110215153A/en
Application granted granted Critical
Publication of CN110215153B publication Critical patent/CN110215153B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools, brushes, or analogous members
    • B08B1/12—
    • B08B1/30—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Abstract

The invention provides a cleaning robot and an operation control method thereof. The detection device comprises a front detection assembly which is arranged close to the front end of the main body, and the front detection assembly is at least provided with two detectors which are arranged at intervals in the front-rear direction. The cleaning robot is also provided with a control device, and when the cleaning robot is started to run, the detector of the front detection assembly is utilized to detect in real time, and the front of the cleaning robot is judged to be the edge or the gap or the frame of the surface to be cleaned, so that the cleaning robot is controlled to stop or continue to move forward. By adopting the cleaning robot and the operation control method thereof, the edge or the gap or the frame of the surface to be cleaned can be detected more accurately, and the falling damage is prevented; and better path planning can be realized, and cleaning efficiency is improved.

Description

Cleaning robot and operation control method thereof
Technical Field
The invention relates to the field of automatic detection and control of cleaning robots, in particular to a cleaning robot and an operation control method thereof.
Background
The infrared detection and ultrasonic detection technology is currently applied to the field of obstacle detection of products such as automatic dust collectors, cleaning robots and the like. The infrared detection is mainly to calculate the distance by detecting the reflected infrared energy, so that the reaction speed is high, the method is harmless and low in cost, but the infrared probe is easily influenced by environmental illumination, obstacle materials and the like, so that the detection is inaccurate; the ultrasonic detection is to calculate the distance by measuring the propagation time of ultrasonic waves between an obstacle and an ultrasonic probe or judge the edge of a working surface according to the intensity of a received signal, so that the outdoor work is more reliable. However, by means of the overall layout, the installation angle and the design optimization of the working mode of the infrared probe and the ultrasonic probe, the interference of dust, water, mechanical shake and other factors on detection is overcome, and a better detection result is still needed to be solved. In particular, for cleaning work requirements of inclined or vertical surfaces such as solar panels, building curtain walls, windows, etc., the cleaning robot needs to accurately detect edges, gaps or frames of the surface to be cleaned, so as to facilitate path planning and positioning of the cleaning robot and avoid falling damage.
In view of this, it is necessary to provide a new cleaning robot and an operation control method thereof.
Disclosure of Invention
The invention aims to provide a cleaning robot and an operation control method thereof, which can more accurately detect the edge, gap or frame of a surface to be cleaned and prevent falling damage; and better path planning can be realized, and cleaning efficiency is improved.
In order to achieve the above object, the present invention provides a cleaning robot, which includes a main body and a detecting device disposed at the bottom of the main body for detecting an edge, a gap or a frame of a surface to be cleaned. The detection device comprises a front detection assembly which is arranged close to the front end of the main body, and the front detection assembly is at least provided with two detectors which are arranged at intervals in the front-rear direction.
As a further improvement of the invention, the front detection assembly is provided with three detectors which are arranged in a triangle shape in the front-rear direction, wherein one detector is arranged near the front end of the main body; the other two detectors are arranged at the rear side of the previous detector and are distributed horizontally.
As a further improvement of the invention, the front-rear vertical distance between the detector of the front detection assembly, which is arranged near the front end of the main body, and the other two detectors is set to be L1, and L1 is between 30 and 90mm.
As a further improvement of the invention, the detection device further comprises a rear detection assembly arranged near the rear end of the main body, and the rear detection assembly comprises at least two detectors arranged front to back.
As a further improvement of the present invention, the two detectors of the rear detection assembly are disposed along the central axis of the main body in the front-rear direction.
As a further improvement of the present invention, the detecting device further includes a side detecting assembly disposed adjacent to the side of the main body, and the side detecting assembly includes at least two detectors arranged laterally from side to side.
As a further improvement of the invention, the lateral vertical distance between two adjacent detectors in the side edge detection assembly is smaller than the front-to-rear vertical distance between two detectors spaced apart from each other in the front detection assembly.
As a further improvement of the present invention, the lateral vertical distance between the outermost detector and the innermost detector in the lateral direction in the side detection assembly is larger than the front-rear vertical distance between the two front-rear spaced detectors in the front detection assembly.
As a further improvement of the present invention, the side edge detecting members are arranged in two groups and are respectively arranged adjacent to the left and right sides of the main body.
As a further improvement of the invention, the detectors are ultrasonic probes, and each ultrasonic probe comprises an ultrasonic transmitting end and a receiving end matched with the ultrasonic transmitting end to receive signals sent by the ultrasonic transmitting end.
The invention also provides a running control method of the cleaning robot, the cleaning robot is also provided with a control device, and the running control method comprises the following steps:
starting the cleaning robot to run, and detecting the detector of the front detection assembly in real time;
if at least one detector in the front detection assembly can detect the feedback signal of the surface to be cleaned, the cleaning robot is controlled to continue to move forwards;
if the detectors in the front detection assembly can not detect feedback signals of the surface to be cleaned, judging that the front part is the edge of the surface to be cleaned, and stopping advancing or steering.
As a further improvement of the invention, the detection device also comprises a rear detection assembly, wherein the rear detection assembly comprises at least two detectors which are arranged in a front-to-back manner; the operation control method further comprises the steps that when the front of the cleaning robot is judged to be the edge of the surface to be cleaned and the front of the cleaning robot stops advancing, real-time detection is carried out through the detector of the rear detection assembly, and feedback signals of the surface to be cleaned can be detected by the detectors of the front detection assembly when the cleaning robot retreats; stopping backing and steering.
As a further improvement of the invention, the detection device further comprises a side detection assembly, wherein the side detection assembly comprises at least two detectors which are transversely arranged left and right; the operation control method further comprises the step of sequentially opening and closing the detectors of the side detection assemblies along the transverse direction, and when one detector of the side detection assemblies is opened and works, other detectors of the group of side detection assemblies are kept closed.
As a further improvement of the invention, the detector of the side edge detection assembly is controlled to be opened and the working time T1 of the detector is accumulated along the transverse outermost side or the innermost side, the detector is closed, the adjacent detector is opened and the working time T2 is accumulated, the detector is closed until the detector of the innermost side or the outermost side of the group of side edge detection assemblies is opened and the working time Tn of the detector is accumulated, and then the detector of the outermost side or the innermost side is opened in the next cycle; where n is the number of detectors that the set of side edge detection assemblies has.
As a further improvement of the invention, the single operation time T1, T2 … … Tn of each detector of the side detection assembly is consistent.
The beneficial effects of the invention are as follows: by adopting the cleaning robot and the operation control method thereof, the edge or the gap or the frame of the surface to be cleaned can be accurately detected through the real-time detection of the detectors which are arranged at intervals in the front detection assembly, and the falling damage is prevented; and better path planning can be realized, and cleaning efficiency is improved.
Drawings
Fig. 1 is a schematic view of a bottom surface structure of a cleaning robot of the present invention;
fig. 2 is a schematic plan arrangement view of an ultrasonic probe of the cleaning robot of the present invention;
fig. 3 is a schematic operation view of an ultrasonic probe of the cleaning robot of the present invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiment is not intended to limit the present invention, and structural, methodological, or functional modifications of the invention according to the embodiment are included in the scope of the invention.
Fig. 1 is a schematic diagram of a bottom structure of a cleaning robot 100 according to the present invention. The cleaning robot 100 includes a main body and a detecting device disposed at the bottom of the main body for detecting an edge, a gap or a frame of a surface to be cleaned. The main body includes a cleaning main body 10 and a traveling main body 20 disposed adjacently in front and rear. The bottom of the cleaning main body 10 is provided with a cleaning assembly 11; the bottom of the traveling body 20 is provided with a steering wheel 21 and traveling tracks 22 respectively arranged at both sides of the steering wheel 21. The walking crawler 22 is also provided with a plurality of vacuum chucks 221.
The detection device comprises a front detection component arranged at the bottom of the cleaning main body 10, a rear detection component arranged at the bottom of the walking main body 20, and two groups of side detection components which are arranged at the bottom of the cleaning main body 10 and are respectively adjacent to the left side and the right side of the cleaning main body 10. The front detection assembly and the rear detection assembly respectively comprise at least two detectors which are arranged front and back; each side edge detection assembly comprises at least two detectors which are transversely arranged left and right. In this embodiment, the detectors are all configured as ultrasonic probes 30, and each ultrasonic probe 30 includes an ultrasonic transmitting end 31 and a receiving end 32 that is matched to receive a signal sent by the ultrasonic transmitting end 31.
The positional relationship of the ultrasonic probe 30 in the front, rear and side detection assemblies is better shown with reference to fig. 2. The front detection assembly is provided with three ultrasonic probes 30 which are arranged in an isosceles triangle in the front-rear direction, wherein one ultrasonic probe 30 is arranged close to the front end of the cleaning main body 10 and is positioned on the central axis of the cleaning main body 10 in the front-rear direction; the other two ultrasonic probes 30 are arranged at the rear side of the previous ultrasonic probe 30 and are distributed horizontally. When the main body turns, two ultrasonic probes 30 positioned at the rear side and distributed laterally in the left-right direction are more advantageous for finding the edge or gap or frame of the surface to be cleaned in advance.
The front-rear vertical distance between the ultrasonic probe 30 of the front detection assembly, which is disposed adjacent to the front end of the cleaning main body 10, and the other two ultrasonic probes 30 is set to L1, L1 being between 30 and 90mm. Preferably, L1 is set to 60mm.
The ultrasonic probes 30 of the rear detection assembly are provided in two and are each provided at the rear side of the steering wheel 21. In addition, the two ultrasonic probes 30 of the rear detection assembly are disposed along the central axis of the front-rear direction of the traveling body 20 and are consistent with each other in the vertical distance L2 and L1 in the front-rear direction.
The cleaning main body 10 extends beyond the traveling main body 20 in the lateral direction, and each ultrasonic probe 30 of the side detection assembly extends beyond the traveling main body 20 in the lateral direction. The two groups of side edge detection assemblies are arranged in bilateral symmetry. The lateral vertical distance L3 between two adjacent ultrasonic probes 30 in the side detection assembly is smaller than L1, and the lateral vertical distance L4 between the ultrasonic probe 30 located laterally outermost and the ultrasonic probe 30 located innermost in the side detection assembly is larger than L1. The lateral distance L3 between two adjacent ultrasonic probes 30 is set to 18mm, and the number of ultrasonic probes 30 of each side detection assembly is set to 5, so that frequent direction adjustment of the cleaning robot 100 in the process of walking along the surface to be cleaned is avoided, and the walking stability of the cleaning robot is ensured.
Besides, the structural specifications of the ultrasonic probes 30 in the front detection assembly, the rear detection assembly and the side detection assembly are consistent, the ultrasonic probes are 58KHz, the sensitivity is more than or equal to-90 db, and foam protection sleeves are additionally arranged during installation. Referring to fig. 3, the height of the ultrasonic probe 30 from the working interface is H, and the distance between the ultrasonic transmitting end 31 and the receiving end 32 is d. Wherein H is set to 55mm, d is set to 30mm, and the inclination angle α of the ultrasonic transmitting end 31 toward the receiving end 32 is set to 15 °, so that the receiving end 32 can smoothly receive the ultrasonic wave emitted from the ultrasonic transmitting end 31 and reflected by the working interface.
The present invention also provides an operation control method of the cleaning robot 100, the cleaning robot 100 further having a control device, the operation control method comprising:
starting the cleaning robot 100 to operate, and detecting in real time by using the ultrasonic probe 30 of the front detection assembly;
if at least one ultrasonic probe 30 in the front detection assembly can detect the feedback signal of the surface to be cleaned, the cleaning robot is controlled to continue to move forwards;
if the ultrasonic probes 30 in the front detection assembly cannot detect the feedback signals of the surface to be cleaned, judging that the front part is the edge of the surface to be cleaned, and stopping advancing or steering; in order to avoid possible falling damage in the steering process of the cleaning robot 100, the ultrasonic probe 30 of the rear detection assembly is used for detecting in real time, and the ultrasonic probe 30 controlling the cleaning robot 100 to retreat to the front detection assembly can detect feedback signals of the surface to be cleaned; stopping backing and steering.
The operation control method further includes taking the ultrasonic probe 30 at the middle position of the side detection assembly in the lateral direction as a position standard when the cleaning robot 100 walks along the edge or the gap or the frame of the surface to be cleaned, where it is preset that the ultrasonic probe 30 at the middle position does not detect a signal when the cleaning robot 100 walks normally; if the ultrasonic probe 30 at the middle position and the ultrasonic probe at the inner side thereof detect feedback signals of the surface to be cleaned, the cleaning robot 100 is controlled to deflect outwards; if the ultrasonic probe 30 inside the ultrasonic probe 30 at the intermediate position does not detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to deflect inward.
The operation control method further includes sequentially opening and closing the ultrasonic probes 30 of the side detection assemblies in the transverse direction, and when one ultrasonic probe 30 of the side detection assemblies is opened and operated, the other ultrasonic probes 30 of the group of side detection assemblies are kept closed. Thereby, signal interference among different ultrasonic probes 30 in the same group of side detection components is effectively avoided, and reliability of detection results is improved.
Specifically, the control method includes controlling to open the outermost or innermost ultrasonic probe 30 of the side detection assembly and accumulating the working time T1 thereof, closing the ultrasonic probe 30, then opening the adjacent ultrasonic probe 30 and accumulating the working time T2, closing until the innermost or outermost ultrasonic probe 30 of the group of side detection assemblies is opened and the working time Tn thereof is accumulated, and then entering the next cycle to open the outermost or innermost ultrasonic probe 30; where n is the number of ultrasonic probes 30 that the set of side detection assemblies has.
The cycle operation order of the left and right sets of side detection components is set to be the same, and the single operation time T1, T2 … … Tn of each ultrasonic probe 30 of the side detection components is identical. In the present embodiment, T1, T2 … … Tn are each set to 20ms. The cleaning robot 100 is suitable for cleaning solar panels, building curtain walls, window glass and the like, wherein the solar panels to be cleaned are usually provided with frames, and gaps are formed between the adjacent solar panels; and a frame equally-spaced structure is also arranged between adjacent glass plates forming the building curtain wall or window. Taking the cleaning operation of the solar panel as an example, when the traveling body 20 travels on the solar panel along the predetermined path, the ultrasonic probe 30 adjacent to the front end of the cleaning body 10 in the front detection assembly loses the signal, and when the ultrasonic probe 30 located at the rear side thereof can still detect the feedback signal of the solar panel, the cleaning robot 100 continues to travel; if the ultrasonic probes 30 of the front detection assembly lose signals, the cleaning robot 100 is required to stop moving forward until reaching the edge of the solar panel. And the detection precision of the front detection component is +/-4 mm.
The side edge detection assembly can rapidly identify the edge, the gap and the frame of the solar panel through cyclic operation, prevent the cleaning robot 100 from deviating, and avoid frequent direction adjustment; when the cleaning robot 100 deviates from a predetermined path, the traveling crawler 22 on both sides is controlled to perform differential motion to perform correction. The ultrasonic probes 30 of the side detection assembly can also avoid signal disturbance among each other by sequentially and circularly working, so that the detection reliability is further improved.
In summary, the cleaning robot 100 and the operation control method thereof according to the present invention can accurately detect the edge, the gap or the frame of the surface to be cleaned, and prevent the falling damage; and the method can realize better path planning, prevent deviation and improve cleaning efficiency.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (12)

1. A cleaning robot, characterized in that: the cleaning robot comprises a main body and a detection device which is arranged at the bottom of the main body and is used for detecting the edge, the gap or the frame of the surface to be cleaned, wherein the detection device comprises a front detection assembly which is arranged close to the front end of the main body, and the front detection assembly is provided with at least two detectors which are arranged at intervals in the front-rear direction; the detection device also comprises a side detection component arranged close to the side of the main body, and the side detection component comprises at least two detectors which are transversely arranged left and right;
the transverse vertical distance between two adjacent detectors in the side detection assembly is smaller than the front-rear vertical distance between two detectors which are arranged at intervals in the front detection assembly; or, the transverse vertical distance between the detector positioned at the outermost side and the detector positioned at the innermost side in the transverse direction in the side detection assembly is larger than the front-rear vertical distance between the two detectors arranged at intervals in the front detection assembly.
2. The cleaning robot of claim 1, wherein: the front detection assembly is provided with three detectors which are arranged in a triangle shape in the front-rear direction, and one detector is arranged close to the front end of the main machine body; the other two detectors are arranged at the rear side of the previous detector and are distributed horizontally.
3. The cleaning robot of claim 2, wherein: the front-rear vertical distance between the detector arranged near the front end of the main body of the front detection assembly and the other two detectors is set to be L1, and L1 is between 30 and 90mm.
4. The cleaning robot of claim 1, wherein: the detection device further comprises a rear detection assembly arranged close to the rear end of the main body, and the rear detection assembly comprises at least two detectors which are arranged front and back.
5. The cleaning robot of claim 4, wherein: the two detectors of the rear detection assembly are arranged along the central axis of the front and rear directions of the main machine body.
6. The cleaning robot of claim 1, wherein: the side detection components are arranged in two groups and are respectively adjacent to the left side and the right side of the main machine body.
7. The cleaning robot according to claim 1 or 4, characterized in that: the detector is an ultrasonic probe, and each ultrasonic probe comprises an ultrasonic transmitting end and a receiving end matched with the ultrasonic transmitting end to receive signals sent by the ultrasonic transmitting end.
8. The operation control method of the cleaning robot is characterized in that the cleaning robot comprises a main body, a control device and a detection device which is arranged at the bottom of the main body and is used for detecting the edge, the gap or the frame of a surface to be cleaned, the detection device comprises a front detection assembly which is arranged close to the front end of the main body, the front detection assembly is provided with at least two detectors which are arranged at intervals in the front-rear direction, the detection device also comprises a side detection assembly which is arranged close to the side edge of the main body, and the side detection assembly comprises at least two detectors which are transversely arranged left and right;
the transverse vertical distance between two adjacent detectors in the side detection assembly is smaller than the front-rear vertical distance between two detectors which are arranged at intervals in the front detection assembly; or, the transverse vertical distance between the detector positioned at the outermost side and the detector positioned at the innermost side in the transverse direction in the side detection assembly is larger than the front-rear vertical distance between the two detectors arranged at intervals in the front detection assembly;
the operation control method comprises the following steps:
starting the cleaning robot to run, and detecting in real time by using a detector of the front detection assembly;
if at least one detector in the front detection assembly can detect the feedback signal of the surface to be cleaned, the cleaning robot is controlled to continue to move forwards;
if the detectors in the front detection assembly can not detect feedback signals of the surface to be cleaned, judging that the front part is the edge of the surface to be cleaned, and stopping advancing or steering.
9. The operation control method according to claim 8, characterized in that: the detection device further comprises a rear detection assembly, wherein the rear detection assembly comprises at least two detectors which are arranged front to back; the operation control method further comprises the steps that when the front of the cleaning robot is judged to be the edge of the surface to be cleaned and the front of the cleaning robot stops advancing, real-time detection is carried out through the detector of the rear detection assembly, and feedback signals of the surface to be cleaned can be detected by the detectors of the front detection assembly when the cleaning robot retreats; stopping backing and steering.
10. The operation control method according to claim 8, characterized in that: the operation control method further comprises the step of sequentially opening and closing the detectors of the side detection assemblies along the transverse control, and when one detector in the side detection assemblies is opened to work, other detectors of the side detection assemblies are kept closed.
11. The operation control method according to claim 10, characterized in that: controlling to open the detector at the outermost side or the innermost side of the side detection assembly along the transverse direction and accumulating the working time T1 of the detector, closing the detector, opening the detector adjacent to the detector and accumulating the working time T2, closing the detector until the detector at the innermost side or the outermost side of the side detection assembly is opened and accumulating the working time Tn of the detector, and then entering the next cycle to open the detector at the outermost side or the innermost side; where n is the number of detectors that the set of side edge detection assemblies has.
12. The operation control method according to claim 11, characterized in that: the single working time T1 and T2 … … Tn of each detector of the side detection assembly are consistent.
CN201810173986.0A 2018-03-02 2018-03-02 Cleaning robot and operation control method thereof Active CN110215153B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201810173986.0A CN110215153B (en) 2018-03-02 2018-03-02 Cleaning robot and operation control method thereof
PCT/CN2019/072008 WO2019165860A1 (en) 2018-03-02 2019-01-16 Cleaning robot and operation control method therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810173986.0A CN110215153B (en) 2018-03-02 2018-03-02 Cleaning robot and operation control method thereof

Publications (2)

Publication Number Publication Date
CN110215153A CN110215153A (en) 2019-09-10
CN110215153B true CN110215153B (en) 2024-03-26

Family

ID=67805171

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810173986.0A Active CN110215153B (en) 2018-03-02 2018-03-02 Cleaning robot and operation control method thereof

Country Status (2)

Country Link
CN (1) CN110215153B (en)
WO (1) WO2019165860A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111561931A (en) * 2020-05-09 2020-08-21 深圳拓邦股份有限公司 Path planning method and device for mobile robot and computer readable storage medium
CN115191888A (en) * 2022-07-14 2022-10-18 杭州萤石软件有限公司 Control method and control device for cleaning robot and control method for cleaning base station

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1947637A (en) * 2006-10-27 2007-04-18 华中科技大学 Walking mechanism of cleaner robot
JP2014030769A (en) * 2002-12-16 2014-02-20 Irobot Corp Autonomous floor-cleaning robot
WO2015060009A1 (en) * 2013-10-24 2015-04-30 シンフォニアテクノロジー株式会社 Solar panel cleaning device
CN106970625A (en) * 2017-04-27 2017-07-21 牛立庚 Drive device and method
CN106974593A (en) * 2017-05-12 2017-07-25 深圳星鸿云科技有限公司 A kind of clean robot obstacle avoidance system and method
CN107028559A (en) * 2017-04-25 2017-08-11 湖南格兰博智能科技有限责任公司 A kind of sweeper and its anti-fall method
CN206465089U (en) * 2016-09-29 2017-09-05 深圳市宇辰智能科技有限公司 A kind of multifunctional cleaning machine people

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005211365A (en) * 2004-01-30 2005-08-11 Funai Electric Co Ltd Autonomous traveling robot cleaner
US20050273967A1 (en) * 2004-03-11 2005-12-15 Taylor Charles E Robot vacuum with boundary cones
KR100690669B1 (en) * 2005-05-17 2007-03-09 엘지전자 주식회사 Position-reconizing system for a self-moving robot
JP2010526594A (en) * 2007-05-09 2010-08-05 アイロボット コーポレイション Small autonomous coverage robot
US9483055B2 (en) * 2012-12-28 2016-11-01 Irobot Corporation Autonomous coverage robot
CN104216404B (en) * 2013-05-31 2017-02-15 科沃斯机器人股份有限公司 Self-moving device and control method thereof
CN207020534U (en) * 2017-05-31 2018-02-16 珠海市一微半导体有限公司 Based on how infrared robot obstacle-avoiding device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014030769A (en) * 2002-12-16 2014-02-20 Irobot Corp Autonomous floor-cleaning robot
CN1947637A (en) * 2006-10-27 2007-04-18 华中科技大学 Walking mechanism of cleaner robot
WO2015060009A1 (en) * 2013-10-24 2015-04-30 シンフォニアテクノロジー株式会社 Solar panel cleaning device
CN206465089U (en) * 2016-09-29 2017-09-05 深圳市宇辰智能科技有限公司 A kind of multifunctional cleaning machine people
CN107028559A (en) * 2017-04-25 2017-08-11 湖南格兰博智能科技有限责任公司 A kind of sweeper and its anti-fall method
CN106970625A (en) * 2017-04-27 2017-07-21 牛立庚 Drive device and method
CN106974593A (en) * 2017-05-12 2017-07-25 深圳星鸿云科技有限公司 A kind of clean robot obstacle avoidance system and method

Also Published As

Publication number Publication date
CN110215153A (en) 2019-09-10
WO2019165860A1 (en) 2019-09-06

Similar Documents

Publication Publication Date Title
CN110215153B (en) Cleaning robot and operation control method thereof
US10199840B2 (en) Charging unit and charging system for self-propelled electric vacuum cleaner
CN103941307B (en) A kind of clean robot and the method for controlling its avoiding obstacles
US9914219B2 (en) Robot cleaner and controlling method thereof
CN103941735B (en) Floor cleaning robot and method for controlling robot to avoid obstacle
US9550428B1 (en) Positioning system for electric charging
US20160170412A1 (en) Autonomous mobile device and method for controlling same
CN104977926A (en) Self-moving robot local barrier avoiding walking method
CN101088720B (en) Barrier bypassing and drop preventing system and method
JP6179346B2 (en) Solar panel cleaning device
CN103941306B (en) Cleaning robot and method for controlling same to avoid obstacle
CN103092206A (en) Traversal path planning method of pipeline robot
CN105223951A (en) Self-movement robot
RU2014154405A (en) System and method for guiding an automatic cleaning device along a path
JP2012139792A (en) Cleaning robot system, and method for controlling the same
CN103197677A (en) Algorithm of walking along edge of dust collection robot
KR102050494B1 (en) Hyper-Tube System Using Vehicle Position Detection
US20030001118A1 (en) Overhead-traveling carrying apparatus
US11628573B2 (en) Unmanned transfer robot system
CN110477808A (en) A kind of robot
JP2007193538A (en) Self-running traveling object
CN108345308A (en) A kind of best random walk selection method of automatic dust absorption machine people
TW201825036A (en) Method for operating an automatically moving cleaning device and cleaning device of this type
CN114027734A (en) Cleaning robot
TW201920945A (en) Inspection system using a detector as an inspection target

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant